UNCA Mechatronics Program 2015 Mini-Competition. Balancing Act. Game Manual

Transcription

1 UNCA Mechatronics Program 2015 Mini-Competition Balancing Act Game Manual

2 Introduction The 2015 UNCA Mechatronics Mini-Competition is called Balancing Act. Teams should refer to this document for the following: Game Description Arena Specs Game Rules Scoring Robot Rules 1.0 Game Description Note: Field design, game play, scoring and robot rules are all still in flux. Expect updates and changes as we learn more. Balancing Act is a robotics mini-competition similar to, but much smaller in scope than the Robotics Competition events or FRC. In this competition each participating team designs and creates a unique robot, capable of achieving some or all of the game challenges. Each match is played by two two-robot alliances -- one alliance designated Blue and one Red. All interaction with the robot during game-play is via wireless connection, similar to how FRC events are conducted. Prior to the start of each match, four robots are placed on the field, Red robots at one end, Blue at the other. The Red alliance robots must be fully in contact with the Red Home (see Fig. 2) supported only by the Red floor. The same is true for the Blue alliance robots, except they use the Blue Home. Robots may NOT be in contact with the Seesaw at the start of the match. Figure 1 - Arena at the start of a match (view approximate) UNCA Mechatronics Mini-Competition for 2015 Page 1

3 Twelve (12) game pieces are placed on each side of the field in small recesses. In the Blue Home there are 8 red Game Pieces and 4 blue. In the Red Home there are 8 blue Game Pieces and 4 red. These are arrayed as shown in Figure 1. Once the field is reset and wireless communications has been confirmed with each robot, the match may begin. Drivers are positioned as shown in Figure 2 below. Note: Scoring for the game is described in the Scoring section of this document. The first fifteen seconds of each match is the Autonomous period, wherein the robots can perform actions on their own. During Autonomous the drivers may not touch their controls (joysticks, etc.). At the end of the Autonomous period, a bell sounds and the drivers may take control of their respective robots. This is called the TeleOp period, which lasts two minutes. During TeleOp, teams drive their robots and use whatever features their respective robot may possess to complete the challenges on the Arena. 1.1 Autonomous Gameplay During the 15 second Autonomous period all robots operate under their own control with no input from any human driver. The primary scoring opportunity is for robots to balance on the Seesaw that matches their alliance color. Considerable points are scored if at the end of Autonomous, one or both robots are positioned entirely on the Seesaw and the Seesaw is in contact with the field only at the fulcrum and not supported by any robot nor game piece. There must be at least ¼ gap between both ends of the Seesaw for this to be true. There may be a brief pause in the action to allow referees time to appraise and score appropriately. In addition, robots may move game pieces around the field, picking them up, and/or moving and placing them into the Scoring Zone or over the Center Wall as desired. Any game pieces placed into a Scoring Zone will count towards scoring at the end of the match. Any game pieces that leave the arena will be replaced by field personnel back into the arena near where they left, but NOT into the Scoring Zone. Teams may NOT use nor intentionally interfere with the opposing alliance s Seesaw! 1.2 TeleOp Gameplay During the two minute TeleOp period the robots are under the control of human drivers, but may continue to operate autonomously at the team s discretion. In the TeleOp period robots move around the field at will, transporting game pieces and interacting with other robots. The primary scoring action during TeleOp is to move game pieces into the Scoring Zone. There are two Scoring Zones, one at each end of the field. From a scoring perspective, it is advantageous for alliances to put game pieces that match their alliance color into the respectively colored Scoring Zone. Conversely, alliances LOSE points if at the end of the TeleOp period there are game pieces in their Scoring Zone of the opposing alliance s color. Robots may CARRY up to 4 game UNCA Mechatronics Mini-Competition for 2015 Page 2

4 Blue Drivers Blue Scoring Zone UNCA Mechatronics 2015 Mini-Competition Game Rules Revision 1.4 pieces at a time. CARRY is defined as control of a Game Piece where no part of that Game Piece is in direct contact with a field element (floor, seesaw, etc). Robots may control unlimited Game Pieces that are in direct contact with a field element. Toward the end of TeleOp alliances may elect to seek additional points by positioning one or both robots on their Seesaw such that the robot(s) are fully supported by the Seesaw, and the Seesaw platform is at least ¼ away from the table on both ends. Teams may pass from one end of the field to the other by using their Seesaw or by passing over the Center Wall that bisects the field. As during Autonomous mode, Teams may NOT use nor interfere with the opposing alliance s Seesaw! The alliance with the greater amount of points (less any penalties) after the end of TeleOp wins the match, and the score is recorded. 2.0 Arena Specs The Arena is as shown in this diagram: Red Safe Zone Red Seesaw Red Drivers Red Scoring Zone Blue Home Blue Home Center Wall Red Home Red Home 72 Blue Seesaw Blue Safe Zone 114 Figure 2: The Arena (dimensions approximate) UNCA Mechatronics Mini-Competition for 2015 Page 3

5 As shown in Figure 3, the SeeSaws tend to self-center when not acted upon: Figure 3, Self-Centering Seesaw In order to pass onto the SeeSaw robots will likely want to have means of causing the Seesaw to tilt down on the end, thus allowing the robot to drive up onto the platform: Figure 4, Robot driving onto Seesaw platform Each Seesaw platform is large enough to hold two robots at a time. There are side-ridges on each platform to help prevent robots from veering off the edge. In addition there is a white reflective line across the middle of the platform should the robot wish to sense it. UNCA Mechatronics Mini-Competition for 2015 Page 4

6 3.0 Game Rules 3.1 Penalties will accrue for robots that violate one or more of these game rules: No excess CARRY -- each robot may CARRY a limit of 4 game pieces No pinning: 5 second limit, then pinning robot must back off. If prolonged, may cause DQ and removal No prolonged stay in Safe Zone of the opposing alliance. Penalties will not be levied if a robot is pushed there by the opposing alliance nor if they go there briefly to gather Game Pieces. In either case the robot must exit as promptly as possible. Unwarranted or prolonged incursion may cause DQ and removal. 3.2 A Robot may be DQed (disqualified) for violating one of these game rules. Ref may move/remove offending robot or debris: No intentional field damage No intentional damage to other robots (i.e. entanglement, arm or other protrusion that intrudes into and damages other robot, etc.). Vigorous interaction (pushing) is allowed and encouraged No parts or debris may be left on field by robot except by accident Robots may NOT inhibit the opposing alliance s Seesaw action Robots may NOT intentionally remove game pieces from any Scoring Zone. 4.0 Scoring 4.1 Seesaw Scoring Note: To earn Seesaw points, robot(s) must be fully supported by Seesaw, and both ends of Seesaw must be at least ¼ away from Floor of playing surface At end of Autonomous Mode operation: One robot balanced at end of Autonomous period: 6 Points Both robots balanced at end of Autonomous period: 16 Points At end of Teleop Mode operation: One robot balanced at end of Teleop period: 3 Points Both robots balanced at end of Teleop period: 8 Points 4.2 Game Piece Scoring Red ball in Red Scoring Zone: 2 points for Red Alliance Blue ball in Red Scoring Zone: -1 point for Red Alliance Blue ball in Blue Scoring Zone: 2 points for Blue Alliance Red ball in Blue Scoring Zone: -1 point for Blue Alliance Note: Game Piece scores cannot go below zero. UNCA Mechatronics Mini-Competition for 2015 Page 5

7 5.0 Penalties 5.1 Excess carry: -8 points 5.2 Excess pinning: -6 points 5.3 Prolonged stay in Safe Zone of opposing alliance, or entry for purposes other than gathering Game Pieces: -8 points (DQ and removal may occur for serious infractions) All rulings and scores may be discussed with Referee immediately after match. Referee s decision is final. 6.0 Robot Rules 6.1 Robots must have passed inspection in order to play. Inspected items include at least: Robots must fit within a 12 x 12 footprint (any height!) at start of play. They may extend outside that envelope during game play Robots must use the provided FRC control system, but may have added devices as desired. The battery must be the unit provided by UNCA Robots must be constructed in such a manner to allow rapid access to power switch, battery and radio Robots must be wired in such a way to resist shorts and other electrical failure during vigorous gameplay. 6.2 During play robots must have the applicable Blue or Red flag, readily visible from any angle. 6.3 Robot team number should be plainly visible on all four sides. UNCA Mechatronics Mini-Competition for 2015 Page 6